Apparatus for monitoring vehicle periphery
First Claim
1. A monitoring apparatus for monitoring the periphery of a vehicle, comprising:
- first camera means which outputs first image data representing a view at a first position, and second camera means which outputs second image data to representing a view at a second position, said first camera means and said second camera means being mounted on the vehicle at said first and second positions, respectively, and spaced apart a predetermined distance;
a first memory and a second memory for respectively storing said first image data and said second image data;
road surface image elimination means, for preparing transformed first image data by transforming said first image data stored in said first memory to transformed first image data representing a view at said second position of images of said first image data with the assumption that all the images of said first image data are of no height, and for eliminating road surface images by computing a difference between said transformed first image data and said second image data, producing difference image data;
differentiation means for deriving differential image data differentiated in a horizontal direction from said second image data;
object edge detection means for detecting edge of an object by executing an AND operation of said difference image data and said differential image data;
object position calculation means for calculating a position of said object from said first and second image data stored in said first and second memories and said edges detected by said object edge detection means; and
alarm means for creating an alarm depending on the position calculated by said object position detection means.
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Abstract
A monitoring apparatus for monitoring the periphery of a motor vehicle in which patterns painted on the surface of a road are eliminated to shorten a time required for calculation to determine a position of a subject by processing image data generated by two cameras, whereby image data of the object having a height is derived by subtracting image data generated one camera from image data generating by the other camera after transferring either of image data to the other image coordinate by assuming that the transferring image data have a height of zero (0) for canceling road surface images and sounding an alarm whenever it is determined that the position of the object causes an obstacle of the moving vehicle.
31 Citations
13 Claims
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1. A monitoring apparatus for monitoring the periphery of a vehicle, comprising:
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first camera means which outputs first image data representing a view at a first position, and second camera means which outputs second image data to representing a view at a second position, said first camera means and said second camera means being mounted on the vehicle at said first and second positions, respectively, and spaced apart a predetermined distance; a first memory and a second memory for respectively storing said first image data and said second image data; road surface image elimination means, for preparing transformed first image data by transforming said first image data stored in said first memory to transformed first image data representing a view at said second position of images of said first image data with the assumption that all the images of said first image data are of no height, and for eliminating road surface images by computing a difference between said transformed first image data and said second image data, producing difference image data; differentiation means for deriving differential image data differentiated in a horizontal direction from said second image data; object edge detection means for detecting edge of an object by executing an AND operation of said difference image data and said differential image data; object position calculation means for calculating a position of said object from said first and second image data stored in said first and second memories and said edges detected by said object edge detection means; and alarm means for creating an alarm depending on the position calculated by said object position detection means. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A monitoring apparatus for monitoring the periphery of a vehicle, comprising:
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first camera means which outputs first image data representing a view at a first position, and second camera means which outputs second image data representing a view at a second position, said first camera means and said second camera means being mounted on the vehicle at said first and second positions, respectively, and spaced apart a predetermined distance; a first memory and a second memory for respectively storing said first image data and said second image data; road surface image elimination means, for preparing transformed first image data by transforming said first image data stored in said first memory to transformed first image data representing a view at said second position of images of said first image data with the assumption that all the images of said first image data are of no height, and for eliminating road surface images by computing a difference between said transformed first image data and said second image data, producing difference image data; object determination means for determining the presence of an object from said difference image data; and alarm means for creating an alarm depending on the determination of said object position determination means.
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9. A method for monitoring the periphery of a vehicle, comprising:
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obtaining first image data representing a view at a first position, and obtaining second image data representing a view at a second position, said first and second positions being spaced apart a predetermined distance; preparing transformed first image data by transforming said first image data to transformed first image data representing a view at said second position of images of said first image data with the assumption that all the images of said first image data are of no height; eliminating road surface images by computing a difference between said transformed first image data and said second image data, producing difference image data; deriving differential image data from said second image data; detecting edges of an object by executing an AND operation of said difference image data and said differential image data; calculating a position of said object from said first and second image data and said edges detected in said detecting step; and creating an alarm in response to the position calculated in said calculating step. - View Dependent Claims (10, 11, 12)
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13. A method for monitoring the periphery of a vehicle, comprising:
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obtaining first image data representing a view at a first position, and second image data representing a view at a second position, said first and second positions being spaced apart a predetermined distance; preparing transformed first image data by transforming said first image data to transformed first image data representing a view at said second position of images of said first image data with the assmuption that all the images of said first image data are of no height; eliminating road surface images by computing a difference between said transformed first image data and said second image data, producing difference image data; determining the presence of an object from said difference image data; and creating an alarm in response to the determination of said object in said determining step.
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Specification